Title :
Fuzzy control of a nonlinear pointing testbed with backlash and friction
Author :
Lin, Ching-Fang ; Yu, Tie-Jun ; Feng, Xu
Author_Institution :
American GNC Corp., Chatsworth, CA, USA
Abstract :
The pointing testbed is an experimental apparatus which can be used to examine the effects of nonlinearities, such as backlash and Coulomb friction, on the control performance. In this paper, a fuzzy controller is proposed to carry out high accuracy and fast positioning of the testbed. A reference model is utilized to obtain a smooth transient response and avoid undesirable overshoots. Through off-line simulation and on-line real-time implementation and test, the fuzzy controller is found to be capable of achieving an extremely high accuracy, a fast response and a good robustness against backlash and Coulomb friction
Keywords :
control nonlinearities; friction; fuzzy control; position control; transient response; vibration control; backlash; fast positioning; fast response; friction; fuzzy control; high accuracy; nonlinear pointing testbed; nonlinearities; smooth transient response; Control nonlinearities; Control systems; Footwear; Friction; Fuzzy control; Fuzzy systems; Mechanical systems; Nonlinear optics; Servomotors; System testing;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577478